基于模糊PID与自抗扰的织针直驱直线电机控制

Control of direct drive linear motor for knitting needles based on fuzzy PID and active disturbance rejection

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摘要针对织针直驱式超薄型直线电机在面对负载扰动和参数变化时稳定性不足的问题,提出了一种融合自抗扰控制(ADRC)和模糊PID控制的复合控制策略;该策略利用模糊PID控制解决传统PI控制器在参数整定上的局限性,增强PID控制器的自适应性和鲁棒性。同时,为了补偿控制系统中由于负载突变和参数变化导致的扰动,引入了自抗扰控制(ADRC),通过扩张状态观测器实时观测并估计电流环的动态行为和参数变化,为控制系统提供了准确的状态信息和参数估计,并进行扰动补偿。通过仿真分析与样机实验验证:在突价负载情况下,模糊PID-ADRC控制下的速度波动变化误差,相较于传统PI控制速度误差值减少了64.3%,相较于模糊PID控制减少了57.7%,在参数变化时,模糊PID-ADRC控制下的速度误差值相较于模糊PID减少了35.6%,该复合控制策略显著提高了超薄型直线电机的控制性能和抗扰动能力。 Aiming at the problem of insufficient stability of the direct-drive ultra-thin linear motor for knit-ting needles when facing load disturbances and parameter variations,a composite control strategy integrating ac-tive disturbance rejection control(ADRC)and fuzzy PID control is proposed.This strategy utilizes Fuzzy PID control to overcome the limitations in parameter tuning of traditional PI controllers,thereby enhancing their adaptability and robustness.Moreover,to compensate for disturbances caused by sudden load changes and pa-rameter fluctuations within the control system,ADRC is introduced.It employs an Extended State Observer(ESO)to monitor and estimate the dynamic behavior and parameter variations of the current loop in real-time,providing the control system with accurate state information and parameter estimation for effective disturbance rejection.The effectiveness of the proposed control strategy has been validated through simulation analysis and prototype testing.Findings indicate that under sudden load conditions,the speed fluctuation error is reduced by 64.3%compared to traditional PI control and by 57.7%compared to Fuzzy PID control.Additionally,during pa-rameter variations,the speed error is decreased by 35.6%compared to Fuzzy PID control alone.This composite control strategy significantly enhances the control performance and disturbance rejection capabilities of ultra-thin linear motors.

作者黄占峰汪诚诚刘毅航邹义帆 HUANG Zhanfeng;WANG Chengcheng;LIU Yihang;ZOU Yifan(College of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan 430200,China)

机构地区武汉纺织大学机械工程与自动化学院

出处《纺织工程学报》 2025年第4期60-69,共10页 JOURNAL OF ADVANCED TEXTILE ENGINEERING

基金湖北省数字化纺织装备重点实验室开发课题项目(DTL2023024)。

关键词超薄型直线电机自抗扰控制模糊PID控制扩张状态观测器抗扰动能力 Ultra-thin linear motor active disturbance rejection control fuzzy PID control extended state ob-server disturbance resistance

分类号 TM341 [电气工程—电机]

作者简介黄占峰,男,硕士研究生,研究方向为机械电子工程,E-mail:729598906@qq.com。;通信作者:汪诚诚,男,硕士,讲师,研究方向为直线电机及控制,E-mail:283520795@qq.com。